\begin{table}[h]
\centering
\begin{tabular}{|c|c|c|c|c|c|c|c|c|c|c|}
\hline
veličina&CO$1$&CO$2$&CO$3$&CO$4$&CO$5$&CO$6$&CO$7$&CO$8$&CO$9$&CO$10$\\
\hline
\multicolumn{11}{|c|}{sledované výstupy (RMSE)}\\
\hline
$\varphi$&$2.403e-02$&$2.410e-02$&$2.407e-02$&$2.677e-02$&$2.691e-02$&$2.696e-02$&$6.534e-03$&$2.616e-02$&$2.701e-02$&$2.765e-02$\\
\hline
$\dot{\varphi}$
&$2.284e-02$&$2.286e-02$&$2.285e-02$&$2.370e-02$&$2.372e-02$&$2.375e-02$&$8.786e-03$&$2.438e-02$&$2.429e-02$&$2.444e-02$\\
\hline
$Y$&$9.724e-01$
&$9.715e-01$
&$9.721e-01$
&$1.005e+00$
&$1.015e+00$
&$1.017e+00$
&$3.341e-02$
&$9.725e-01$
&$1.033e+00$
&$1.027e+00$
\\
\hline
\multicolumn{
11
}{|c|}{actuator activity (RMSE)}\\
\hline
$\delta f$&$3.898e-03$&$3.900e-03$&$3.898e-03$&$3.517e-03$&$3.510e-03$&$3.507e-03$&$3.122e-03$&$3.221e-03$&$3.170e-03$&$3.202e-03$\\
\hline
$s_{fl}$&$4.257e-05$&$4.260e-05$&$4.258e-05$&$3.011e-05$&$3.166e-05$&$3.133e-05$&$1.182e-05$&$3.333e-05$&$3.077e-05$&$2.948e-05$\\
\hline
$s_{fr}$&$6.016e-05$
&$6.011e-05$
&$6.013e-05$
&$5.557e-05$
&$5.424e-05$
&$5.448e-05$
&$1.584e-05$
&$5.749e-05$
&$5.247e-05$
&$5.231e-05$
\\
\hline
\multicolumn{
11
}{|c|}{Ostatní veličiny}\\
\hline
velikost QP problému&$24$&$24$&$30$&$16$&$16$&$19$&$12$&$12$&$12$&$14$\\
\hline
RMSE porušení $(rad/s)$
&$8.043e-03$&$8.016e-03$&$8.010e-03$&$7.049e-03$&$6.797e-03$&$6.927e-03$&$3.653e-02$&$1.015e-02$&$8.551e-03$&$8.027e-03$\\
\hline
\end{tabular}
\caption{Výsledky kombinace blokování vstupu a redukce měkkých omezení.}
\label{tab:table_combine4}
\end{table}
